Sensing rich drive trains for modern mechatronic systems: Second year progress report

摘要

This paper explores the advantages of sensing rich approaches to the design and operation of the power transmission mechanism or drive train under servo control. The drive train is a fundamental element of any motion control system. Three specific cases are presented: 1) vision-based online trajectory generation for contour following for a two link manipulator, 2) the use of vision image and other sensors such as accelerometers and gyros for end-effector sensing, and 3) sensor-based controller tuning of indirect drive train using accelerometers on the load side. For each of the three cases, the advantages are demonstrated by experiments.